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作者：Krishnamurthy, Prashanth; Khorrami, Farshad
作者单位：New York University; New York University Tandon School of Engineering
摘要：We develop a general matrix pencil-based approach for efficient nonconservative realization of dual dynamic high-gain scaling-based control designs for a class of uncertain feedforward-like nonlinear systems. It is shown that the control design can be cast into a set of matrix pencil-based subproblems capturing the detailed system structure, state dependence structure of uncertain terms, and precise roles of design freedoms in the context of detailed structures of Lyapunov inequalities. The de...
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作者：Yi, Bowen; Wang, Lei; Manchester, Ian R.
作者单位：University of Sydney; Zhejiang University
摘要：In this article, we address the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case, the resulting condition is sufficient to design almost globally convergent attitude observers, and two explicit designs are...
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作者：Rezaee, Hamed; Parisini, Thomas; Polycarpou, Marios M.
作者单位：Imperial College London; Imperial College London; University of Trieste; University of Cyprus; University of Cyprus
摘要：Cooperative adaptive cruise control (CACC) in leaderless scenario is addressed in this article. The common idea in CACC is that a leader vehicle determines the steady-state speed of the platoon without considering feedback from other vehicles. The main contribution of this article is to propose a control strategy such that each vehicle in a leaderless platoon keeps a desired distance from its preceding vehicle, determined based on the constant time-gap spacing policy, and simultaneously, all t...
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作者：Strecker, Timm; Cantoni, Michael; Aamo, Ole Morten
作者单位：University of Melbourne; Norwegian University of Science & Technology (NTNU)
摘要：In this article, we present an event-triggered boundary control scheme for hyperbolic systems. The trigger condition is based on predictions of the state on determinate sets, and the control input is updated only when the predictions deviate from the reference by a given margin. Nominal closed-loop stability, the absence of Zeno behavior, and robustness to uncertainty and disturbances, are all established analytically. For the special case of linear systems, the trigger condition can be expres...
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作者：Chen, Yongxin
作者单位：University System of Georgia; Georgia Institute of Technology
摘要：In this article, we consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., flocks of birds, UAV swarms) and their group behavior can be modeled by a distribution. Thus, this problem can be viewed as an optimal control problem over the space of distributions. We propose a novel algorithm to compute a feedback control strategy so that, when adopted by ...
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作者：Ebeigbe, Donald; Nguyen, Thang
作者单位：Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University; Pennsylvania State University - University Park; Texas A&M University System; Thuyloi University
摘要：Existing research results on regressor-based control use the linear parameterization of the dynamic equation into a known regressor matrix and an uncertain parameter vector. In this note, we show that the well-known robust controller that assumes a known regressor matrix can yield undesirable performance and poor robustness capabilities if there is uncertainty in the regressor matrix, especially when dealing with larger robots. The novelty of our result lies in accounting for uncertainties in ...
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作者：Feng, Zhangcheng; Xu, Wenying; Cao, Jinde
作者单位：Southeast University - China; Southeast University - China; Purple Mountain Laboratories; Yonsei University
摘要：This article is concerned with distributed Nash equilibrium (NE) problem for multiplayer games under the Round-Robin (RR) protocol. For the purpose of effectively mitigating data congestion and saving communication resources, the RR protocol is adopted for each player, under which the player is permitted to transmit data to only one of its neighbors at each time instant. The resulting protocol-induced communication graph become time-varying and even disconnected, even though the original graph...
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作者：Xiao, Qiang; Zeng, Zhigang; Huang, Tingwen; Lewis, Frank L.
作者单位：Huazhong University of Science & Technology; Qatar Foundation (QF); Texas A&M University Qatar
摘要：Stability theory of linear differential-difference system has been well-established, while fewer results can be found for nonlinear differential-difference systems. In this article, stability and boundedness of homogeneous differential-difference system with bounded delay is studied based on the system positivity. At first, an exponential stability criterion is obtained, which is an extension of an existing result. Next, another boundary is computed under the previous condition, which proves t...
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作者：Kishida, Masako
作者单位：Research Organization of Information & Systems (ROIS); National Institute of Informatics (NII) - Japan
摘要：This article introduces the notions of stability, ultimate boundedness, and positive invariance for stochastic systems in view of risk. More specifically, those notions are defined in terms of the worst-case conditional value-at-risk (CVaR), which quantifies the worst-case conditional expectation of losses exceeding a certain threshold over a set of possible uncertainties. Those notions allow us to focus our attention on the tail behavior of stochastic systems in the analysis of dynamical syst...
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作者：Qin, Dongdong; Jin, Zhehao; Liu, Andong; Zhang, Wen-An; Yu, Li
作者单位：Zhejiang University of Technology
摘要：In this article, we propose an asynchronous event-triggered distributed predictive control method for the cooperation of multiagent systems with parameterized synchronization constraints. A novel event-triggering condition related to the parameterized information received from neighboring agents is derived for each agent based on the input-to-state stability (ISS) condition. In such a framework, the distributed optimization problem is solved and the parameterized information is exchanged betwe...
